Bálint Hodossy
346 lines
11 KiB
C#
346 lines
11 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using System.Linq;
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using System.Xml;
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using NUnit.Framework;
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using UnityEngine;
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using UnityEngine.TestTools;
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namespace Mujoco {
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[TestFixture]
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public class MjcfImporterTests {
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private GameObject _sceneRoot;
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private MjcfImporter _importer;
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[SetUp]
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public void SetUp() {
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_importer = new MjcfImporter();
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}
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[TearDown]
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public void TearDown() {
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if (_sceneRoot != null) {
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UnityEngine.Object.DestroyImmediate(_sceneRoot);
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}
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}
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[Test]
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public void SceneRootIsGivenRequestedName() {
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var rootName = "rootName";
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var mjcfString = "<mujoco><worldbody/></mujoco>";
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_sceneRoot = _importer.ImportString(name: rootName, mjcfString: mjcfString);
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Assert.That(_sceneRoot.name, Is.EqualTo(rootName));
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}
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[Test]
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public void ParsingAGeom() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<geom size='1'/>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
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var geomChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(geomChild, Is.Not.Null);
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Assert.That(geomChild.GetComponent<MjGeom>(), Is.Not.Null);
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}
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[TestCase("hinge", typeof(MjHingeJoint))]
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[TestCase("slide", typeof(MjSlideJoint))]
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[TestCase("free", typeof(MjFreeJoint))]
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public void ParsingJoints(string typeId, Type jointType) {
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var mjcfString = string.Format(@"<mujoco>
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<worldbody>
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<body>
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<joint type=""{0}""/>
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<geom size='1'/>
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</body>
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</worldbody>
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</mujoco>", typeId);
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
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var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
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var jointChild = bodyChild.transform.GetChild(0).gameObject;
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Assert.That(jointChild, Is.Not.Null);
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Assert.That(jointChild.GetComponent(jointType), Is.Not.Null);
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}
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[Test]
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public void ParsingAFreeJointStandaloneNode() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body>
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<freejoint/>
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<geom size='1'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
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var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(bodyChild.transform.childCount, Is.EqualTo(2));
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var jointChild = bodyChild.transform.GetChild(0).gameObject;
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Assert.That(jointChild, Is.Not.Null);
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Assert.That(jointChild.GetComponent<MjFreeJoint>(), Is.Not.Null);
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}
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[Test]
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public void ParsingABody() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body/>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
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var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(bodyChild, Is.Not.Null);
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Assert.That(bodyChild.GetComponent<MjBody>(), Is.Not.Null);
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}
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[Test]
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public void ParsingChildrenOfABody() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body>
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<geom size='1'/>
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<body/>
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<joint type=""hinge""/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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Assert.That(_sceneRoot.transform.childCount, Is.EqualTo(1));
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var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(bodyChild, Is.Not.Null);
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Assert.That(bodyChild.transform.childCount, Is.EqualTo(3));
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}
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[Test]
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public void AnonymousNodeReceivesGeneratedName() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body/>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var bodyChild = _sceneRoot.transform.GetChild(0).gameObject;
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Assert.That(bodyChild.name, Is.EqualTo("body_0"));
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}
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[Test]
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public void AnonymousNodesReceiveTheSameNamesWithEveryImport() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body/>
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</worldbody>
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</mujoco>";
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var scenes = new GameObject[] {
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_importer.ImportString(name: string.Empty, mjcfString: mjcfString),
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_importer.ImportString(name: string.Empty, mjcfString: mjcfString)
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};
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// Ensure that the objects will be destroyed after the test is completed.
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_sceneRoot = new GameObject();
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foreach (var scene in scenes) {
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scene.transform.parent = _sceneRoot.transform;
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}
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var children = scenes.Select(parent => parent.transform.GetChild(0).gameObject).ToArray();
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Assert.That(children[0].name, Is.EqualTo(children[1].name));
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}
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[Test]
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public void ApplyingDefaultOutsideWorldbody() {
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var mjcfString = @"<mujoco>
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<default>
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<general ctrllimited='true' ctrlrange='-1 1'/>
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</default>
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<worldbody>
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<body>
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<geom name=""root_geom"" size='1 2'/>
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<joint name='j'/>
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</body>
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</worldbody>
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<actuator>
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<general joint='j'/>
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</actuator>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
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Assert.That(actuator.CommonParams.CtrlLimited, Is.True);
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}
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[Test]
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public void ApplyingDefaultSettingsToNodeWithoutClass() {
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var mjcfString = @"<mujoco>
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<default>
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<geom type=""cylinder""/>
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</default>
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<worldbody>
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<geom name=""root_geom"" size='1 2'/>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var rootGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
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Assert.That(rootGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Cylinder));
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}
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[Test]
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public void ApplyingHierarchicalDefaultSettingsToNodeWithClass() {
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var mjcfString = @"<mujoco>
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<default>
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<geom type=""cylinder""/>
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<default class=""child"">
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<geom type=""box""/>
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</default>
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</default>
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<worldbody>
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<body childclass=""child"">
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<geom name=""body_geom"" size='1 2 3'/>
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</body>
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</worldbody>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var bodyGeom = _sceneRoot.GetComponentInChildren<MjGeom>();
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Assert.That(bodyGeom.ShapeType, Is.EqualTo(MjShapeComponent.ShapeTypes.Box));
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}
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[Test]
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public void ReadingOption() {
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var mjcfString = @"<mujoco>
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<option impratio='1.2345'/>
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<worldbody/>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
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Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(1.2345f));
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}
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[Test]
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public void ReadingSize() {
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var mjcfString = @"<mujoco>
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<size memory='1M'/>
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<worldbody/>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
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Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("1M"));
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}
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[Test]
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public void ReadingOptionAndSize() {
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var mjcfString = @"<mujoco>
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<option impratio='5.4321'/>
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<size memory='16K'/>
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<worldbody/>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
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Assert.That(settings.GlobalOptions.ImpRatio, Is.EqualTo(5.4321f));
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Assert.That(settings.GlobalSizes.Memory, Is.EqualTo("16K"));
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}
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[Test]
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public void ReadingOptionFlags() {
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var mjcfString = @"<mujoco>
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<option>
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<flag gravity='disable' contact='disable'/>
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</option>
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<worldbody/>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var settings = _sceneRoot.GetComponentInChildren<MjGlobalSettings>();
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Assert.That(settings.GlobalOptions.Flag.Gravity, Is.EqualTo(EnableDisableFlag.disable));
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Assert.That(settings.GlobalOptions.Flag.Contact, Is.EqualTo(EnableDisableFlag.disable));
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}
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[Test]
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public void ParsedActuatorsAddedToDedicatedGameObjectAggregate() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body>
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<geom size='1'/>
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<joint name='1'/>
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</body>
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</worldbody>
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<actuator>
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<motor joint='1'/>
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</actuator>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var actuator = _sceneRoot.GetComponentInChildren<MjActuator>();
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Assert.That(actuator, Is.Not.Null);
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Assert.That(actuator.transform.parent.gameObject.name, Is.EqualTo("actuators"));
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}
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[Test]
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public void ParsedSensorsAddedToDedicatedGameObjectAggregate() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body name='1'/>
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</worldbody>
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<sensor>
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<framepos objtype='body' objname='1'/>
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</sensor>
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</mujoco>";
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_sceneRoot = _importer.ImportString(
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name: string.Empty, mjcfString: mjcfString);
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var sensor = _sceneRoot.GetComponentInChildren<MjBaseSensor>();
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Assert.That(sensor, Is.Not.Null);
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Assert.That(sensor.transform.parent.gameObject.name, Is.EqualTo("sensors"));
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}
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[Test]
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public void NodeHandlerCalledForMatchingelements() {
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var mjcfString = @"<mujoco>
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<worldbody>
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<body>
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<CustomTestNode/>
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</body>
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</worldbody>
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</mujoco>";
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var customImporter = new MjcfImporter();
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bool ranCustomFunction = false;
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customImporter.AddNodeHandler("CustomTestNode", (element, o) => {
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ranCustomFunction = true;
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});
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var mjcfXml = new XmlDocument();
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mjcfXml.LoadXml(mjcfString);
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customImporter.ImportXml(mjcfXml);
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Assert.That(ranCustomFunction, Is.True);
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}
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}
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}
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